General Purpose I/O Lines (GPIO)

1. GPIO modes:

Pulse Width Modulation (PWM).

Discrete Output.

Discrete Input.

Pulse Counter

2. Pulse width modulation generator (PWM). Each PWM channel (also called servo output) generates a standard (Futaba) PWM control signal: this signal is high for a period of one millisecond and stretches for up to one additional millisecond (1000us), with a resolution control of one microsecond (1us). The stretching of this signal is used by the servo control electronics to command a proportional servo deflection. The following diagram shows how these parameters are used: